U.S. patent application number 13/218683 was filed with the patent office on 2012-03-01 for inceptor system.
This patent application is currently assigned to Liebherr-Aerospace Lindenberg GmbH. Invention is credited to Matthias Ludwig, Ralph Neumann, Michael Rottach, Manfred Schlosser, Matthias Stiefenhofer.
Application Number | 20120053763 13/218683 |
Document ID | / |
Family ID | 45565981 |
Filed Date | 2012-03-01 |
United States Patent
Application |
20120053763 |
Kind Code |
A1 |
Stiefenhofer; Matthias ; et
al. |
March 1, 2012 |
INCEPTOR SYSTEM
Abstract
The present invention relates to an active inceptor system for
controlling an aircraft with at least one mechanically movable
inceptor, at least one control of at least one control element or
actuator for actuating the inceptor, and at least one detection
means for detecting at least one state variable of the inceptor,
wherein the active inceptor comprises at least one controller for
actuating at least one control element or actuator and at least one
feel generating means, wherein the feel generating means combines
inner and/or outer state variables and a control setpoint variable
can be determined with the aid of one or more physical-mathematical
models.
Inventors: |
Stiefenhofer; Matthias;
(Lindenberg, DE) ; Ludwig; Matthias; (Lindenberg,
DE) ; Rottach; Michael; (Sulzberg, DE) ;
Neumann; Ralph; (Scheidegg, DE) ; Schlosser;
Manfred; (Lindenberg, DE) |
Assignee: |
Liebherr-Aerospace Lindenberg
GmbH
Lindenberg
DE
|
Family ID: |
45565981 |
Appl. No.: |
13/218683 |
Filed: |
August 26, 2011 |
Current U.S.
Class: |
701/3 |
Current CPC
Class: |
B64C 13/507 20180101;
B64C 13/0421 20180101; B64C 13/46 20130101; B64C 13/505
20180101 |
Class at
Publication: |
701/3 |
International
Class: |
B64C 13/46 20060101
B64C013/46; G05D 1/00 20060101 G05D001/00 |
Foreign Application Data
Date |
Code |
Application Number |
Aug 30, 2010 |
DE |
102010035823.1 |
Claims
1. An active inceptor system for controlling an aircraft with at
least one mechanically movable inceptor, at least one control of at
least one control element or actuator for actuating the inceptor,
and at least one detection means for detecting at least one state
variable of the inceptor, wherein the active inceptor system
comprises at least one controller for actuating at least one
control element or actuator and at least one feel generating means,
and the feel generating means combines inner and/or outer state
variables and determines a control setpoint variable with the aid
of one or more physical-mathematical models.
2. The active inceptor system according to claim 1, wherein at
least one physical-mathematical model comprises a characteristic
curve and/or a spring-mass damper model of any order and/or
dimension.
3. The active inceptor system according to claim 1, wherein an
inner state variable considers the hand force and/or the hand
torque acting on the inceptor.
4. The active inceptor system according to claim 1, wherein outer
state variables comprise data of the autopilot or measured values
or data of coupled components.
5. The active inceptor system according to claim 1, wherein the
controller used is a position controller and the feel generating
means generates a position setpoint variable.
6. The active inceptor system according to claim 1, wherein the
controller used is a speed controller and the feel generating means
generates a speed setpoint variable.
7. The active inceptor system according to claim 1, wherein the
controller used is an acceleration controller and the feel
generating means generates an acceleration setpoint variable.
8. The active inceptor system according to claim 1, wherein control
architecture is configured according to an arbitrary combination of
the controller used being a position controller and the feel
generating means generates a position setpoint variable, or the
controller used is a speed controller and the feel generating means
generates a speed setpoint variable, or the controller used is an
acceleration controller and the feel generating means generates an
acceleration setpoint variable.
9. An aircraft with an active inceptor system according to claim
1.
10. The active inceptor system according to claim 2, wherein an
inner state variable considers the hand force and/or the hand
torque acting on the inceptor.
11. The active inceptor system according to claim 10, wherein outer
state variables comprise data of the autopilot or measured values
or data of coupled components.
12. The active inceptor system according to claim 3, wherein outer
state variables comprise data of the autopilot or measured values
or data of coupled components.
13. The active inceptor system according to claim 2, wherein outer
state variables comprise data of the autopilot or measured values
or data of coupled components.
14. The active inceptor system according to claim 13, wherein the
controller used is a position controller and the feel generating
means generates a position setpoint variable.
15. The active inceptor system according to claim 12, wherein the
controller used is a position controller and the feel generating
means generates a position setpoint variable.
16. The active inceptor system according to claim 11, wherein the
controller used is a position controller and the feel generating
means generates a position setpoint variable.
17. The active inceptor system according to claim 10, wherein the
controller used is a position controller and the feel generating
means generates a position setpoint variable.
18. The active inceptor system according to claim 4, wherein the
controller used is a position controller and the feel generating
means generates a position setpoint variable.
19. The active inceptor system according to claim 3, wherein the
controller used is a position controller and the feel generating
means generates a position setpoint variable.
20. The active inceptor system according to claim 2, wherein the
controller used is a position controller and the feel generating
means generates a position setpoint variable.
Description
BACKGROUND OF THE INVENTION
[0001] This invention relates to an active inceptor system for
controlling an aircraft with at least one mechanically movable
inceptor, at least one control of at least one control element or
actuator for actuating the inceptor, and at least one detection
means for detecting at least one state variable of the
inceptor.
[0002] Such inceptor systems employ an inceptor mechanically
movable about a plurality of axes, in particular in the form of a
control stick, which can be actuated by the pilot for flight
control of an aircraft. The inclination of the inceptor about one
of the axes for example influences the longitudinal and/or
transverse inclination of an airplane or the pitch and roll
movement as well as the vertical movement of a helicopter.
[0003] In contrast to the classical control, in which the control
movements of the pilot are transmitted to the controlling actuating
devices of the aircraft by steel cables, push rods or other
hydraulic systems, the variable actuating position of the
mechanically movable inceptor is detected by associated sensors and
transmitted to the corresponding actuating device of the aircraft
via electric lines.
[0004] In the design of the fly-by-wire system, as compared to the
classical control stick design, the occurring control forces are
not fed back to the inceptor. However, the pilot often must rely on
this form of haptic transmission of information, in order to feel
the respective flight position of the aircraft.
[0005] The active inceptor systems provide for simulating the
occurring control forces and adapt the same to the respective
flight situation, so as to achieve an optimum support of the pilot.
The feedback for example is transmitted to the control device in
the form of movements or signals, whereby an intuitive reaction of
the pilot to the respective flight situation is facilitated.
Furthermore, the pilot gets a precise feedback on the control
inputs made by him. Even when using an electric control system, it
is therefore possible for the pilot to feel the behavior of the
aircraft during the flight operation.
SUMMARY OF THE INVENTION
[0006] It is the object of the present invention to present an
inceptor system for aircraft with an improved feel generation.
[0007] This object is solved by an active inceptor system according
to the features herein. Further advantageous embodiments of the
inceptor system are subject-matter of the description herein.
[0008] Accordingly, a generic active inceptor system for
controlling an aircraft is developed to the effect that the same
comprises at least one controller for controlling at least one
control element or actuator and at least one feel generating means.
The feel generating means is directly or indirectly connected with
at least one detection means of the inceptor system. Taking into
account at least one inner state variable, at least one control
setpoint variable can be determined for actuating the controller by
means of one or more physical-mathematical models. The resulting
regulated actuation of the actuator/control element generates a
perceptible feel for the pilot, which substantially corresponds to
the known control forces of classical control systems.
[0009] Preferably, inner state variables and outer state variables
are combined inside the feel generating means and employed for the
control setpoint variable determination with the aid of one or more
physical-mathematical models.
[0010] Inner state variables directly concern the state of the
inceptor, i.e. the position and/or the speed and/or acceleration
and/or action of force with which the inceptor is actuated by the
pilot. Outer state variables preferably describe the state of
coupled components or the state of external components which are
important for the control of the aircraft.
[0011] The physical-mathematical model allows the detailed and
adaptable simulation of the control forces occurring in classical
control systems. The combination of different physical-mathematical
models allows an adaptable and arbitrarily adjustable configuration
of the feedback reactions perceptible for the pilot. The manner of
the respective feel generation can be adapted to the aircraft or to
the flight behavior.
[0012] Preferably, at least one physical-mathematical model
comprises a characteristic curve and/or a spring-mass damper model
of any order and/or dimension.
[0013] By means of the feel generating means various functions can
be realized in the feel generating means. The combination of
different functions is possible. Possible physical-mathematical
models comprise force position characteristic curves, torque
position characteristic curves or damping speed characteristic
curves, which preferably are linear or non-linear.
[0014] Furthermore a physical-mathematical model for realizing a
detent, a break-out, a hard stop (position limitation) or a soft
stop function is conceivable. What is also possible is the
realization of a friction model, a force offset, a position offset
or a stick shaker. Furthermore, the speed and/or the acceleration
and/or the force can be limited by the physical-mathematical model.
An arbitrary combination of the aforementioned functions inside the
feel generating means is conceivable.
[0015] The inner state variables preferably are detected by the
above-mentioned detection means and transmitted to the feel
generating means. The same include for example the hand force
and/or the hand torque acting on the inceptor.
[0016] Outer state variables expediently comprise one or more
signals of an autopilot. Measured values or relevant data of other
coupled components likewise can be taken into account. The same
include for example an active inceptor system installed in
parallel. Control data, like arbitrary state variables, as well as
determined setpoint variables of a parallel active inceptor system
are transmitted to the feel generating means of the active inceptor
system according to the invention. Inceptor systems installed in
parallel for example play a role in aircraft which are steered by
more than one person. Furthermore, parallel inceptor systems can
perform a plurality of control functions of an aircraft. A
redundant design of the inceptor system according to the invention
also is imaginable under the aspects mentioned above.
[0017] Taking into account the inner and/or outer state variables,
the feel generating means according to the invention generates one
or more control setpoint variables for the control architecture of
the inceptor system according to the invention. Preferably, the
control architecture is based on at least one movement
controller.
[0018] In particular, the controller is designed as position
controller and the feel generating means generates a desired
position variable for the controller.
[0019] Furthermore, the controller can be designed as speed
controller and the feel generating means generates a desired speed
variable for the controller.
[0020] The design of the controller as acceleration controller
likewise is conceivable, and the feel generating means generates a
desired acceleration variable for the controller.
[0021] A combination of all three control architectures is also
possible.
[0022] This invention furthermore relates to an aircraft with an
active inceptor system according to any of the advantageous
embodiments explained above. The properties and effects of the
aircraft according to the invention quite obviously correspond to
those of the advantageous embodiments of the active inceptor
system, so that a repeated discussion thereof will be omitted at
this point.
BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Further advantages and details of the invention can be taken
from the exemplary embodiments shown in FIGS. 1 and 2. In the
drawing:
[0024] FIG. 1: shows a block circuit diagram of the architecture of
the active inceptor system, and
[0025] FIG. 2: shows a schematic representation of the mode of
operation of the feel generating means.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0026] FIG. 1 shows a block circuit diagram of an active inceptor
unit. The architecture comprises a mechanically movable inceptor in
the form of a control stick 10 which is mechanically connected with
at least one control element 30 or at least one active actuator 40.
The actuator 40 preferably is designed as electric motor whose
drive shaft causes a mechanical force acting on the control stick
10 via a transmission structure and generates a control stick
movement. Since the control stick 10 is freely movable about an
arbitrary number of axes, one control element 30 or actuator 40 is
provided per axis.
[0027] The architecture furthermore comprises detection means 20
which are arranged at the stick mechanism and serve for determining
the current actuating position of the control stick 10. Parameters
such as the speed, the acceleration and the force, which act on the
control stick 10 when the same is actuated, likewise can be
determined by the detection means 20. Further sensors determine the
current state variables 31, 41 of the used actuators 40 or control
elements 30 for actuating the control stick 10.
[0028] For generating the electronically controlled feedback in
dependence on the control stick actuation the feel generating means
50 is used. At the input of the feel generating means 50 the
signals of the internal state variables 20, 31, 41 generated by the
sensors are present. Furthermore, the position controller 70 makes
use of said signal lines of the sensors.
[0029] For considering the current flight position of the aircraft
external state variables 90 furthermore are detected by external
sensor systems and forwarded to the feel generating means 50. The
external state variables 90 for example include the current
airspeed, the flight altitude, the set flap angle and the
measurement data of the gyroscopes used in the airplane and
corresponding signals of the autopilot.
[0030] The virtual inceptor model 60 generally is based on a
mathematical model which generates a virtual control stick. In
consideration of the incoming state variables 20, 31, 41 the
inceptor model 60 generates a plurality of simulation values which
comprise a virtual position as well as further auxiliary variables
of the control stick 10. The simulation data are supplied to the
position controller 70 and to the feel generating means 50. For
example, an explicit measurement of certain state variables can be
omitted, since the same can be calculated by means of the virtual
inceptor model 60 in consideration of the incoming state variables
20, 31, 41.
[0031] By using the virtual inceptor model 60, a force measurement
or a force control theoretically can be omitted completely.
[0032] From the supplied state variables 20, 31, 41 of the sensors,
the virtual state and auxiliary variables of the virtual inceptor
model 60 and the external state variables 90 the feel generating
means 50 generates a desired position for the control stick 10. The
desired position can be generated by using a stored characteristic
curve or a feel model, to which different behavioral
characteristics can be assigned. By way of example the use of a
spring-mass model or an arbitrary force-position characteristic
curve should be mentioned, which in dependence on an incoming force
state variable determines a predefined desired position for the
control stick 10. Further embodiments employ an attenuation speed
characteristic curve or simulate a detent and/or break-out and/or
position limitation and/or soft stop function and/or a friction
model and/or a force or position offset and/or a force and/or speed
limitation.
[0033] At the actual input of the position controller 70 the state
variables 20, 31, 41 of the inceptor 10 and of the actuators 40 or
control elements 30 are present. Taking into account the desired
position generated by the feel generating means 50 and taking into
account the virtual auxiliary variables determined by the virtual
inceptor model 60, a corresponding actuating variable 71 is
generated for the control elements 30 of the inceptor architecture.
The actuating variable 71 includes e.g. arbitrary control voltages,
control currents as well as other control variables for the motor
or control element actuation.
[0034] For safety reasons, the control stick system comprises a
consolidation or monitoring means 80 which monitors the generated
variables of the position controller 70 as well as the generated
variables of the feel generating means 50 and of the virtual
inceptor model 60 and possibly subjects the same to a plausibility
check. The respective data of the monitoring or consolidation means
80 optionally are output acoustically via a display element or
optically as status message.
[0035] The rough schematic diagram of FIG. 2 once again illustrates
the mode of operation of the feel generating means 50 according to
the invention. Taking into account one or more incoming inner and
outer state variables and on the basis of a physical-mathematical
model to be chosen arbitrarily, the basic architecture of the feel
generating means 50 generates a control setpoint variable which is
supplied to the succeeding controller 70. The generated actuating
variable 71 at the controller output is provided to the individual
control elements 30, 40 for actuating the control stick 10. The
actual control variable at the output of the control path is fed
back to the feel generating means 50 as inner state variable.
[0036] Since an aircraft often is equipped with a plurality of
inceptor units as shown in FIG. 1 for reasons of redundancy, a
coupling must be effected between the used systems. The
communication between the two systems is realized by means of an
electric connection. Status messages of the monitoring or
consolidation means or the used state variables of the actuators or
control elements and of the inceptors for example are exchanged
between the control architectures of the coupled systems.
[0037] Alternatively, a plurality of inceptors or inceptor systems
is used not for redundancy reasons, but instead for realizing
various control tasks. For example, a side stick serves for
executing a roll and pitch movement of a helicopter, whereas a
second side stick controls the vertical movement. Here as well, a
synchronized feel generation on both sticks as well as the exchange
of various status messages and state variables is absolutely
necessary.
* * * * *